A Switching strategy for robust cooperative exploration
This paper develops a switching strategy for networked mobile sensing agents to automatically decide when to perform individual exploration and when to perform cooperative exploration of an unknown scalar field corrupted by time-varying non-Gaussian noises. The switching condition from individual ex...
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| creator | Wencen Wu Fumin Zhang |
| description | This paper develops a switching strategy for networked mobile sensing agents to automatically decide when to perform individual exploration and when to perform cooperative exploration of an unknown scalar field corrupted by time-varying non-Gaussian noises. The switching condition from individual exploration to cooperative exploration is based on Razumikhin theorem, and the change of the signal-to-noise ratio (SNR) serves as the switching condition from cooperative exploration to individual exploration. A cooperative H ∞ filter is proposed when the agents are collaborating. Sufficient conditions are derived for the cooperative H ∞ filter to converge. This switching strategy balances the mobility of the agents and the exploring accuracy. Simulation results demonstrate that with the switching strategy, a group of sensing agents can succeed in finding a local minimum of an unknown scalar field efficiently. |
| doi_str_mv | 10.1109/CDC.2010.5718104 |
| format | Conference Proceeding |
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The switching condition from individual exploration to cooperative exploration is based on Razumikhin theorem, and the change of the signal-to-noise ratio (SNR) serves as the switching condition from cooperative exploration to individual exploration. A cooperative H ∞ filter is proposed when the agents are collaborating. Sufficient conditions are derived for the cooperative H ∞ filter to converge. This switching strategy balances the mobility of the agents and the exploring accuracy. Simulation results demonstrate that with the switching strategy, a group of sensing agents can succeed in finding a local minimum of an unknown scalar field efficiently.</description><identifier>ISSN: 0191-2216</identifier><identifier>ISBN: 142447745X</identifier><identifier>ISBN: 9781424477456</identifier><identifier>EISBN: 9781424477463</identifier><identifier>EISBN: 1424477441</identifier><identifier>EISBN: 9781424477449</identifier><identifier>EISBN: 1424477468</identifier><identifier>DOI: 10.1109/CDC.2010.5718104</identifier><language>eng</language><publisher>IEEE</publisher><subject>Convergence ; Equations ; Noise measurement ; Sensors ; Signal to noise ratio ; Switches</subject><ispartof>49th IEEE Conference on Decision and Control (CDC), 2010, p.5493-5498</ispartof><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/5718104$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,778,782,787,788,2054,27908,54903</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/5718104$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Wencen Wu</creatorcontrib><creatorcontrib>Fumin Zhang</creatorcontrib><title>A Switching strategy for robust cooperative exploration</title><title>49th IEEE Conference on Decision and Control (CDC)</title><addtitle>CDC</addtitle><description>This paper develops a switching strategy for networked mobile sensing agents to automatically decide when to perform individual exploration and when to perform cooperative exploration of an unknown scalar field corrupted by time-varying non-Gaussian noises. The switching condition from individual exploration to cooperative exploration is based on Razumikhin theorem, and the change of the signal-to-noise ratio (SNR) serves as the switching condition from cooperative exploration to individual exploration. A cooperative H ∞ filter is proposed when the agents are collaborating. Sufficient conditions are derived for the cooperative H ∞ filter to converge. This switching strategy balances the mobility of the agents and the exploring accuracy. Simulation results demonstrate that with the switching strategy, a group of sensing agents can succeed in finding a local minimum of an unknown scalar field efficiently.</description><subject>Convergence</subject><subject>Equations</subject><subject>Noise measurement</subject><subject>Sensors</subject><subject>Signal to noise ratio</subject><subject>Switches</subject><issn>0191-2216</issn><isbn>142447745X</isbn><isbn>9781424477456</isbn><isbn>9781424477463</isbn><isbn>1424477441</isbn><isbn>9781424477449</isbn><isbn>1424477468</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1j01Lw0AYhFdUsK29C172D6R9992v5Fii1ULBgwreyr7Jbl2p3ZDEj_57I9bTzDMMA8PYlYCZEFDMy5tyhjCQtiIXoE7YtLC5UKiUtcrIUzb-B_1yxkYgCpEhCnPBxl33BgA5GDNidsEfv2Jfvcb9lnd963q_PfCQWt4m-uh6XqXU-CGOn57772aXfn3aX7Lz4Hadnx51wp6Xt0_lfbZ-uFuVi3UWUdg-K4ik1wWAdoEkkaqdsUZ7p5EAQyWVIxxKaFFBICAdcpujraXHStYkJ-z6bzd67zdNG99de9gcT8sfSgVJMw</recordid><startdate>20100101</startdate><enddate>20100101</enddate><creator>Wencen Wu</creator><creator>Fumin Zhang</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>20100101</creationdate><title>A Switching strategy for robust cooperative exploration</title><author>Wencen Wu ; Fumin Zhang</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i217t-9bb3e59005afb3bb4da6765ea52b02fc34ab29bb27240fb0b5f87827d3e2c3db3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Convergence</topic><topic>Equations</topic><topic>Noise measurement</topic><topic>Sensors</topic><topic>Signal to noise ratio</topic><topic>Switches</topic><toplevel>online_resources</toplevel><creatorcontrib>Wencen Wu</creatorcontrib><creatorcontrib>Fumin Zhang</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Wencen Wu</au><au>Fumin Zhang</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A Switching strategy for robust cooperative exploration</atitle><btitle>49th IEEE Conference on Decision and Control (CDC)</btitle><stitle>CDC</stitle><date>2010-01-01</date><risdate>2010</risdate><spage>5493</spage><epage>5498</epage><pages>5493-5498</pages><issn>0191-2216</issn><isbn>142447745X</isbn><isbn>9781424477456</isbn><eisbn>9781424477463</eisbn><eisbn>1424477441</eisbn><eisbn>9781424477449</eisbn><eisbn>1424477468</eisbn><abstract>This paper develops a switching strategy for networked mobile sensing agents to automatically decide when to perform individual exploration and when to perform cooperative exploration of an unknown scalar field corrupted by time-varying non-Gaussian noises. The switching condition from individual exploration to cooperative exploration is based on Razumikhin theorem, and the change of the signal-to-noise ratio (SNR) serves as the switching condition from cooperative exploration to individual exploration. A cooperative H ∞ filter is proposed when the agents are collaborating. Sufficient conditions are derived for the cooperative H ∞ filter to converge. This switching strategy balances the mobility of the agents and the exploring accuracy. Simulation results demonstrate that with the switching strategy, a group of sensing agents can succeed in finding a local minimum of an unknown scalar field efficiently.</abstract><pub>IEEE</pub><doi>10.1109/CDC.2010.5718104</doi><tpages>6</tpages><oa>free_for_read</oa></addata></record> |
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| ispartof | 49th IEEE Conference on Decision and Control (CDC), 2010, p.5493-5498 |
| issn | 0191-2216 |
| language | eng |
| recordid | cdi_ieee_primary_5718104 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Convergence Equations Noise measurement Sensors Signal to noise ratio Switches |
| title | A Switching strategy for robust cooperative exploration |
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